public void Align()
{
var targetOrientation = KinematicBody.getNewOrientation(currentGoal - transform.position);
//rotation = goal.eulerAngles;
var rotation = targetOrientation - KinematicBody.getOrientation();
rotation = Kinematic.mapToRange(rotation);
var rotationSize = Mathf.Abs(rotation);
if (rotationSize < angularGoalRadius)
{
torque = 0f;
tiltAmountSideways = 0f;
return;
}
float targetRotation;
// if we're outside the slow Radius
if (rotationSize > angularSlowRadius)
{
targetRotation = SP.MAXROTATION;
}
else
{
targetRotation = SP.MAXROTATION * rotationSize / slowRadius;
}
tiltAmountSideways = targetRotation;
// Final target rotation combines speed (already in variable) with rotation direction
targetRotation = targetRotation * rotation / rotationSize;
torque = targetRotation - KinematicBody.getRotation();
torque = torque / alignTime;
var angularAcceleration = Mathf.Abs(torque);
if (angularAcceleration > SP.MAXANGULAR)
{
torque = torque / angularAcceleration;
torque = torque * SP.MAXANGULAR;
}
}
//public virtual DynoSteering getSteering();
// Update is called once per frame
public DynoSteering getSteering()
{
goal = goalObject.getGoal();
ds = new DynoSteering();
//goal.position - transform.position;
targetOrientation = charRigidBody.getNewOrientation(goal.position - transform.position);
//rotation = goal.eulerAngles;
rotation = targetOrientation - charRigidBody.getOrientation();
rotation = Kinematic.mapToRange(rotation);
rotationSize = Mathf.Abs(rotation);
if (rotationSize < goalRadius)
{
return(ds);
}
// if we're outside the slow Radius
if (rotationSize > slowRadius)
{
targetRotation = sp.MAXROTATION;
}
else
{
targetRotation = sp.MAXROTATION * rotationSize / slowRadius;
}
// Final target rotation combines speed (already in variable) with rotation direction
targetRotation = targetRotation * rotation / rotationSize;
ds.torque = targetRotation - charRigidBody.getRotation();
ds.torque = ds.torque / time_to_target;
angularAcceleration = Mathf.Abs(ds.torque);
if (angularAcceleration > sp.MAXANGULAR)
{
ds.torque = ds.torque / angularAcceleration;
ds.torque = ds.torque * sp.MAXANGULAR;
}
return(ds);
}
// Update is called once per frame
void Update()
{
ks = new KinematicSteering();
ds = new DynoSteering();
// Decide on behavior
//seeking_output = seek.updateSteering();
seeking_output = arrive.getSteering();
//seeking_output = seek.getSteering();
char_kinematic.setVelocity(seeking_output.velc);
// Manually set orientation for now
float new_orient = char_kinematic.getNewOrientation(seeking_output.velc);
char_kinematic.setOrientation(new_orient);
char_kinematic.setRotation(0f);
// Update Kinematic Steering
kso = char_kinematic.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
}